/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MOTOR_CTRL_H
#define __MOTOR_CTRL_H

#include "incl.h"

#define super_dt		(0.001f)

void can_motor_init(void);
void can_motor_task(void);
void can_motor_setxy(float x, float y);
void can_motor_setz(float z);
void can_motor_setxy_ForPark(float x, float y);

uint8_t xyend_GetEndFlag(void);
uint8_t zend_GetEndFlag(void);


extern float angle_arror;
extern Traj_Typedef Traj_ricexy;  //加减速调用
extern Traj_Typedef Traj_ricez;  //加减速调用
extern float angle_init;
extern float tja_xy, tja_z;
#endif /* __MOTOR_CTRL_H */

/******************* (H) COPYRIGHT 2024 FUYEBING*****END OF FILE************/

